CN115375713B - Ground point cloud segmentation method and device and computer readable storage medium - Google Patents
Ground point cloud segmentation method and device and computer readable storage medium Download PDFInfo
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Abstract
The application discloses a segmentation method, a segmentation device and a computer-readable storage medium of ground point cloud, wherein the segmentation method comprises the following steps: acquiring a target point cloud of a current frame; cutting a space region where the target point cloud is located to obtain a plurality of first subspace regions; determining an estimated ground corresponding to each first subspace area according to the sub-point cloud included in each first subspace area; adjusting the pre-estimated ground corresponding to each first subspace area according to the pre-estimated ground corresponding to at least one first subspace area adjacent to each first subspace area to obtain a target ground corresponding to each first subspace area; and respectively segmenting ground point clouds from the sub-point clouds included in each first subspace area according to the target ground corresponding to each first subspace area. The segmentation method provided by the application can improve the segmentation precision of the ground point cloud.
Description
Technical Field
The present application relates to a method and an apparatus for segmenting a ground point cloud, and a computer-readable storage medium.
Background
Mobile robot platforms such as unmanned vehicles, logistics robots, service robots, and home sweeping robots mainly use multidimensional sensing systems (e.g., laser radar, depth camera, etc.) to acquire surrounding environmental data. And then, after comprehensive analysis and calculation are carried out on the environmental data by the obstacle perception algorithm, an instruction is sent out by the decision control module to enable the mobile robot platform to realize full-autonomous operation. Therefore, obstacle perception is one of the prerequisites for realizing the intellectualization of the mobile robot platform.
However, when the point cloud collected by the sensing devices such as the laser radar and the depth camera is used for detecting the obstacle at present, the ground is easily and mistakenly detected as the obstacle, so that the point cloud ground segmentation algorithm is very important for an obstacle sensing system.
Disclosure of Invention
The application provides a ground point cloud segmentation method, a ground point cloud segmentation device and a computer readable storage medium, which can improve the segmentation precision of the ground point cloud.
A first aspect of an embodiment of the present application provides a method for segmenting a ground point cloud, where the method includes: acquiring a target point cloud of a current frame; cutting a space region where the target point cloud is located to obtain a plurality of first subspace regions; acquiring a plurality of second subspace areas corresponding to a previous historical frame and historical grounds corresponding to each second subspace area; respectively determining the second subspace area matched with each first subspace area in a plurality of second subspace areas; screening the sub-point clouds included in each first subspace area according to the historical ground corresponding to the second subspace area matched with each first subspace area respectively to obtain candidate point clouds corresponding to each first subspace area; determining the pre-estimated ground corresponding to each first subspace area according to the candidate point cloud corresponding to each first subspace area; adjusting the estimated ground corresponding to each first subspace area according to the estimated ground corresponding to at least one first subspace area adjacent to each first subspace area respectively to obtain a target ground corresponding to each first subspace area; and respectively segmenting ground point clouds from the sub-point clouds included in each first subspace area according to the target ground corresponding to each first subspace area.
A second aspect of the embodiments of the present application provides a segmentation apparatus, where the segmentation apparatus includes a processor, a memory, and a communication circuit, where the processor is respectively coupled to the memory and the communication circuit, the memory stores program data, and the processor implements the steps in the foregoing method by executing the program data in the memory.
A third aspect of embodiments of the present application provides a computer-readable storage medium, which stores a computer program, the computer program being executable by a processor to implement the steps in the above method.
The beneficial effects are that: according to the segmentation method, firstly, a space area where the target point cloud is located is segmented to obtain a plurality of first subspace areas, then, according to sub-point clouds included in each first subspace area, estimated ground of each first subspace area is obtained preliminarily, then, the adjacent characteristics among the first subspace areas are considered, the estimated ground corresponding to at least one first subspace area adjacent to each first subspace area is utilized, the estimated ground corresponding to each first subspace area is adjusted to obtain the target ground corresponding to each first subspace area, so that the target ground corresponding to each first subspace area is closer to the smooth and smooth characteristic of the ground, then, the target ground corresponding to each first subspace area is used as the respective real ground of each first subspace area, and according to the respective real ground of each first subspace area, the point cloud ground included in each first subspace area is segmented. The ground point cloud is segmented from the sub-point cloud included in the first subspace area according to the target ground corresponding to the first subspace area, and the target ground is closer to the smooth characteristic of the real ground, so that the precision of the finally segmented ground point cloud can be improved. Meanwhile, when the pre-estimated ground corresponding to each first subspace area is determined, the historical ground of the second subspace area matched with the first subspace area is used as the prior ground, the calculated amount can be greatly reduced, and the algorithm speed is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
FIG. 1 is a schematic flow chart diagram illustrating an embodiment of a method for segmenting a ground point cloud according to the present invention;
FIG. 2 is a partial schematic flow chart of another embodiment of the ground point cloud segmentation method according to the present application;
FIG. 3 is a flowchart illustrating step S160 of an embodiment of a method for segmenting a ground point cloud;
FIG. 4 is a schematic view of a plurality of first subspace regions of the present application projected onto a real ground surface;
FIG. 5 is a flowchart illustrating a step S130 in an embodiment of the method for segmenting a ground point cloud according to the present application;
FIG. 6 is a flowchart illustrating a step S140 in an embodiment of the method for segmenting a ground point cloud according to the present application;
FIG. 7 is a flowchart illustrating a step S150 in an embodiment of a method for segmenting a ground point cloud according to the present application;
FIG. 8 is a schematic block diagram of an embodiment of a segmentation system of the present application;
FIG. 9 is a schematic structural diagram of an embodiment of the segmentation apparatus of the present application;
FIG. 10 is a schematic view of another embodiment of the partitioning device of the present application;
FIG. 11 is a schematic structural diagram of an embodiment of a computer-readable storage medium according to the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the accompanying drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
First, it should be noted that the segmentation method for the obstacle point cloud is executed by a segmentation device, which may be any device with algorithm processing capability, such as a mobile phone, a computer, or a robot, and is not limited herein.
Referring to fig. 1, in an embodiment of the present application, a method for segmenting a ground point cloud includes:
s110: and acquiring the target point cloud of the current frame.
And the target sensor acquires data of the surrounding environment to obtain continuous multi-frame point cloud data, wherein the target point cloud of the current frame is the point cloud data corresponding to the frame to be processed at the current moment.
Target sensors include, but are not limited to, depth cameras, single/multiline lidar, TOF cameras (time of flight cameras), and single/binocular structured light devices, among others.
The target point cloud of the current frame comprises a plurality of points, and each point corresponds to a three-dimensional coordinate value.
S120: and cutting the space region where the target point cloud is located to obtain a plurality of first subspace regions.
S130: and determining the estimated ground corresponding to each first subspace area according to the sub-point cloud included in each first subspace area.
Specifically, processing the sub-point cloud included in each first subspace area respectively, and determining an estimated ground in each first subspace area, wherein the estimated ground is an estimated plane of a real ground included in the first subspace area.
S140: and respectively adjusting the estimated ground corresponding to each first subspace area according to the estimated ground corresponding to at least one first subspace area adjacent to each first subspace area to obtain the target ground corresponding to each first subspace area.
Specifically, in order to make the estimated ground corresponding to each first subspace region closer to the smooth and smooth characteristic of the real ground, the embodiment considers the adjacent characteristic between each first subspace region, and for any first subspace region a, the estimated plane corresponding to the first subspace region a is adjusted according to the estimated ground corresponding to at least one first subspace region B adjacent to the first subspace region a around the first subspace region a, so as to finally obtain the target ground of the first subspace region a.
It should be noted that, whether it is the estimated ground or the target ground, it is expressed by a plane equation.
For any first subspace area a, the estimated ground of the first subspace area a may be adjusted according to the estimated planes corresponding to the adjacent partial first subspace areas B, or the estimated ground of the first subspace area a may be adjusted according to the estimated planes corresponding to all the adjacent first subspace areas B.
S150: and respectively segmenting ground point clouds from the sub-point clouds included in each first subspace area according to the target ground corresponding to each first subspace area.
Specifically, after the target ground corresponding to each first subspace area is obtained, the target ground corresponding to each first subspace area is determined to be the real ground contained in each first subspace area, and then the ground point cloud is segmented from the sub point cloud contained in each first subspace area according to the real ground of each first subspace area.
It is understood that all ground point clouds corresponding to the first subspace region constitute all ground point clouds in the target point cloud.
Meanwhile, after the ground point clouds in the first subspace areas are segmented, the obstacle point clouds in the first subspace areas can be further segmented, for example, the point clouds formed by points which are not located in the ground point clouds in the sub point clouds are determined to be the obstacle point clouds, so that the obstacle point clouds can be used for subsequent obstacle extraction.
From the above, it can be seen that the target ground obtained by the method is closer to the smooth characteristic of the real ground, so that the ground point cloud is segmented from the sub-point cloud included in the first subspace area according to the target ground corresponding to the first subspace area, and the accuracy of the finally segmented ground point cloud can be improved.
In this embodiment, in step S110, when the point-corresponding coordinates in the target point cloud are the coordinates of the point in the sensor coordinate system, the coordinates of the point are converted from the sensor coordinate system to the world coordinate system. In particular, the coordinates of the points can be converted from the sensor coordinate system to the world coordinate system by means of a conversion matrix from the sensor coordinate system to the world coordinate system.
It should be noted that, the present application is not limited to converting the coordinates of the point from the sensor coordinate system to the world coordinate system in step S110, and in other embodiments, the coordinates of the midpoint of the target point cloud in step S110 may also be the coordinates of the point in the sensor coordinate system, which is specifically referred to below.
It is understood that the z-axis of the world coordinate system is perpendicular to the ground, i.e. in an ideal situation, the planar equation corresponding to the real ground is z =0.
In this embodiment, in order to reduce the data processing amount, referring to fig. 2, before the step S120 of dividing the spatial region where the target point cloud is located, the method further includes:
s160: and respectively judging whether each point in the target point cloud is in the interested space area.
Specifically, the spatial region of interest is also referred to as an ROI (region of interest) spatial region, and only the point cloud in the spatial region of interest needs to be processed in a subsequent processing process.
S170: in response to the point not being in the spatial region of interest, the point is removed from the target point cloud.
After step S160, the points in the target point cloud are all in the interested space region.
S180: and filtering the points in the target point cloud.
Specifically, in order to further reduce the amount of calculation, after only the points in the spatial region of interest are retained, the remaining points are also subjected to filtering processing, so that the subsequent steps are performed with the points remaining after the filtering processing.
The filtering process may be any type of filtering process, such as voxel down-sampling.
It should be noted that in other embodiments, after the points that are not in the interested space area are removed from the target point cloud in step S170, step S180 may not be performed.
Alternatively, in other embodiments, the filtering process may be performed directly on the target point cloud without performing steps S160 and S170.
In an application scenario, as shown in fig. 3, the following steps are performed for each point in the target point cloud to determine whether it is in the spatial region of interest:
s161: and judging whether the first component, the second component and the third component in the coordinate corresponding to the point are respectively in the first range, the second range and the third range corresponding to the point.
If yes, go to step S162, otherwise go to step S163.
S162: a point is determined to be in the spatial region of interest.
S163: it is determined that the point is not in the spatial region of interest.
Specifically, the third component coincides with a direction perpendicular to the real ground, that is, when the coordinates of the point are coordinates of the point in the world coordinate system, the third component is a z-coordinate value in the coordinates of the point, and accordingly, the first component is an x-coordinate value in the coordinates of the point, and the second component is a y-coordinate value in the coordinates of the point.
In consideration of the ideal state, the plane equation corresponding to the ground is z =0, so that in order to avoid missing the ground point cloud in the first subspace region, the minimum value of the third range is smaller than zero, and the maximum value is larger than zero.
Meanwhile, in the application scene, in consideration of calibration errors and ranging characteristics of the target sensor (as the distance between a set point and the target sensor is increased, the noise of the point on the z axis is increased), the larger the distance between the set point and the target sensor for collecting the target point cloud is, the wider the third range of the point correspondence is.
For example, a point is determined to be in the region of interest if it satisfies the following condition:
x i ∈[x min ,x max ]，y i ∈[y min ,y max ]，z i ∈[z min ×max(1.0,r α ),z max ×max(1.0,r α )]wherein x is i X-coordinate value, y, of the representative point i Y coordinate value, z, of the indicating point i Z-coordinate value, [ x ] of the indicating point min ,x max ]In the first range, [ y ] min ,y max ]In the second range, [ z ] min ×max(1.0,r α ),z max ×max(1.0,r α )]In the third range, wherein x min 、x max 、y min 、y max 、z min And z max Are all preset threshold values which can be set according to actual requirements, wherein z min Less than zero, z max And when the target sensor is a depth camera, the value of alpha is usually 1.08, and generally speaking, the value of alpha is between 1 and 2, and the higher the acquisition precision of the target sensor is, the closer the alpha is to 1.
That is, the first ranges corresponding to different points are the same, the second ranges corresponding to different points are the same, but the third ranges corresponding to different points are different.
It can be understood that, when the coordinates of the point in step S110 are the coordinates of the point in the sensor coordinate system, and the y axis of the sensor coordinate system is perpendicular to the real ground, the third component is the y coordinate value in the point coordinates, accordingly, the first component is the x coordinate value in the point coordinates, and the second component is the z coordinate value in the point coordinates, accordingly, the point is determined to be in the region of interest if the point satisfies the following condition:
x i ∈[x min ,x max ]，y i ∈[y min ×max(1.0,r α ),y max ×max(1.0,r α )]，z i ∈[z min ,z max ]。
after the above steps, the data preprocessing of the target point cloud is completed, and then the process of cutting the spatial region where the target point cloud is located in step S120 is described:
after the steps, the spatial region where the target point cloud is located is the interested spatial region, and the projection of the interested spatial region on the real ground is a rectangle.
In the embodiment, during cutting, the spatial region where the target point cloud is located is averagely divided into m parts along the y-axis direction of the world coordinate system, and then the spatial region where the target point cloud is located is averagely divided into n parts along the x-axis direction, so as to obtain m × n first subspace regions, where orthographic projections of the m × n first subspace regions (denoted by reference numeral 101 in fig. 4) on the real ground are shown in fig. 4. In an application scene, m is less than or equal to n. That is to say, at this time, the vertical projection of the spatial region where the target point cloud is located on the real ground is a first rectangle, the vertical projections of the plurality of first subspace regions on the real ground are all second rectangles, the plurality of second rectangles are arranged in an array, and the plurality of second rectangles form the first rectangle.
In other embodiments, the spatial region where the target point cloud is located may also be cut by using other cutting manners, for example, the spatial region where the target point cloud is located is divided into several parts along a first cutting direction perpendicular to the real ground but intersecting with the y-axis direction of the world coordinate system, and then the spatial region where the target point cloud is located is divided into several parts along a second cutting direction perpendicular to the real ground but intersecting with the x-axis direction of the world coordinate system. At this time, in the orthographic projection of the plurality of first subspace regions on the real ground, some are parallelograms, some may be triangles, some may be other allotypes, and it should be noted that the functions that can be realized by the plurality of first subspace regions having the orthographic projection of these shapes are equivalent to the functions that can be realized by the plurality of first subspace regions having the rectangular orthographic projection.
In general, the present application is not limited to a particular cutting pattern.
Referring to fig. 5, in the present embodiment, the step S130 performs the following steps for each first subspace area to determine the estimated ground corresponding to the first subspace area:
s131: and judging whether the current frame is an initial frame or not.
If the determination result is yes, the process proceeds to step S132, and if the determination result is no, the process proceeds to step S133.
Specifically, the initial frame refers to the first frame in the continuous multi-frame point cloud data output by the target sensor.
S132: and respectively carrying out plane fitting on the sub-point clouds included in each first subspace area to obtain the estimated ground corresponding to each first subspace area.
Specifically, any plane fitting algorithm including, but not limited to, random Sample Consensus (RANSAC), singular Value Decomposition (SVD), cloth surface Simulation ground Filtering (CSF), and the like may be used to perform plane fitting on the sub-point clouds included in each first subspace region, so as to obtain an estimated ground corresponding to each first subspace region.
S133: and respectively storing each first subspace area and the corresponding estimated ground as a second subspace area for the next frame and a historical ground corresponding to the second subspace area.
Specifically, after the estimated ground corresponding to each first subspace region is obtained, the first subspace region and the estimated ground corresponding to the first subspace region are saved as a second subspace region for the next frame and a historical ground corresponding to the second subspace region.
S134: and acquiring a plurality of second subspace areas corresponding to the stored previous historical frame and a plurality of historical grounds.
Specifically, if the current frame is not the initial frame, each subspace region obtained from the previous frame and the estimated ground corresponding to each subspace region are obtained, that is, a plurality of second subspace regions and a plurality of historical grounds corresponding to the previous historical frame are saved.
S135: and respectively determining second subspace areas matched with the first subspace areas in the plurality of second subspace areas.
Specifically, for each first subspace region of the current frame, a best matching subspace region is found among a plurality of subspace regions of the previous history frame, that is, a second subspace region matching each first subspace region is determined among a plurality of second subspace regions.
Wherein, the second subspace region matched with the first subspace region in the plurality of second subspace regions refers to the second subspace region with the highest possibility of being the same as the first subspace region.
In an application scenario, the step of determining a second subspace region matching the first subspace region among the plurality of second subspace regions includes: respectively determining the overlapping degree of the first subspace area and each second subspace area; and determining the second subspace area corresponding to the maximum overlapping degree as being matched with the first subspace area.
Specifically, the greater the degree of overlap of the first subspace region and the second subspace region, the greater the likelihood that the first subspace region and the second subspace region are the same subspace region.
The intersection ratio of the first subspace region and the second subspace region may be determined as the overlapping degree of the two, or the overlapping volume of the first subspace region and the second subspace region may be determined as the overlapping degree of the two. The process of specifically determining the overlapping degree of the first subspace region and the second subspace region is not particularly limited.
The process of simultaneously determining the intersection ratio of the first subspace region and the second subspace region may be to determine the intersection ratio of the orthographic projection of the second subspace region on the real ground and the orthographic projection of the first subspace region on the real ground.
In consideration of the fact that the maximum overlapping degree is possibly zero, the application scene determines the second subspace area corresponding to the maximum overlapping degree as being matched with the first subspace area when the maximum overlapping degree is not zero, but determines the second subspace area closest to the first subspace area as being corresponding to the first subspace area when the maximum overlapping degree is zero.
The distance from the center of the first subspace region to the center of the second subspace region may be determined as the distance between the first subspace region and the second subspace region, or the vertical distance between two surfaces of the first subspace region and the second subspace region, which are oppositely disposed, may be determined as the distance between the first subspace region and the second subspace region.
S136: and determining the pre-estimated ground corresponding to each first subspace area according to the sub-point cloud included in each first subspace area and the historical ground corresponding to the second subspace area corresponding to each first subspace area.
Specifically, after finding the second subspace corresponding to each first subspace region, the following steps are respectively performed for each first subspace region:
s1361: and determining the estimated ground of the first subspace area according to the sub-point cloud included in the first subspace area and the historical ground corresponding to the second subspace area corresponding to the first subspace area.
In an application scenario, S1361 specifically includes: screening out points, the distance from which to the historical ground corresponding to the first subspace area does not exceed a second threshold value, from the sub-point clouds included in the first subspace area respectively to obtain candidate point clouds corresponding to the first subspace area; and performing plane fitting on the candidate point cloud to obtain the estimated ground corresponding to the first subspace area.
Specifically, the historical ground corresponding to the second subspace area corresponding to the first subspace area is used for screening the sub-point clouds included in the first subspace area to obtain candidate point clouds, and then the candidate point clouds are subjected to plane fitting to obtain the estimated ground corresponding to the first subspace area.
Wherein, the screening criteria are: if the distance between the point and the historical ground is smaller than a second threshold value, the point is reserved, and if not, the point is deleted. The second threshold may be set according to actual requirements, and is not limited herein. For example, according to the requirement on the ground point cloud segmentation accuracy, a second threshold is set, and the process may be: the higher the requirement on the ground point cloud segmentation precision is, the smaller the second threshold value is set, and the lower the requirement on the ground point cloud segmentation precision is, the larger the second threshold value is set.
At this time, the historical ground corresponding to the second subspace area is used as the prior ground of the first subspace area, and the sub-point clouds included in the first subspace area are screened, so that the calculation amount can be greatly reduced, and the algorithm speed is improved.
S137: and respectively taking the estimated ground corresponding to the plurality of first subspace areas and the plurality of first subspace areas as a second subspace area and a historical ground (relative to the next frame) for storage.
Specifically, the estimated ground corresponding to each of the plurality of first subspace regions corresponding to the current frame and the plurality of first subspace regions is obtained and then stored for the next frame.
Referring to fig. 6, in the present embodiment, step S140 includes:
s141: and determining a first normal vector corresponding to each first subspace area according to the estimated ground corresponding to each first subspace area, wherein the first normal vector corresponding to the first subspace area is perpendicular to the estimated ground corresponding to the first subspace area.
Specifically, after the estimated plane corresponding to the first subspace region is obtained, a first normal vector perpendicular to the estimated plane can be determined according to a plane equation of the estimated plane, so that each first subspace region has a first normal vector.
S142: and adjusting the first normal vector corresponding to each first subspace area according to the first normal vector corresponding to at least one first subspace area adjacent to each first subspace area to obtain a second normal vector corresponding to each first subspace area.
Specifically, for a first subspace area a, a first normal vector of the first subspace area a is adjusted according to a first normal vector corresponding to at least one adjacent first subspace area B, so as to obtain a second normal vector corresponding to each first subspace area a.
In an application scenario, step S142 specifically includes: respectively carrying out weighted average calculation on a first normal vector corresponding to each first subspace area and a first normal vector corresponding to at least one first subspace area adjacent to the first subspace area according to the weight corresponding to the first normal vector, so as to obtain a second normal vector corresponding to the first subspace area; the distance between the first subspace area corresponding to the first normal vector and a target sensor for collecting the target point cloud is larger, and the weight corresponding to the first normal vector is smaller.
Specifically, assume that the first normal vector corresponding to the first subspace region a is (x) A ,y A ,z A ) And the weight corresponding to the first normal vector is lambda A The first normal vectors corresponding to at least one first subspace region B adjacent to the first subspace region A are respectively (x) B1 ,y B1 ,z B1 ）、（x B2 ,y B2 ,z B2 ) \8230; \ 8230and (x) Bn ,y Bn ,z Bn ) The weights corresponding to these first normal vectors are λ B1 、λ B2 ……λ Bn Wherein n is the number of at least one first subspace region B, wherein in pair (x) A ,y A ,z A ) After the adjustment, the second normal vector corresponding to the first subspace area a is (x ', y', z '), wherein the calculation formulas of x', y ', z' are as follows:
x’=(λ A ×x A +λ B1 ×x B1 +λ B2 ×x B2 +……+λ Bn ×x Bn )/(n+1)；
y’=(λ A ×y A +λ B1 ×y B1 +λ B2 ×y B2 +……+λ Bn ×y Bn )/(n+1)；
z’=(λ A ×z A +λ B1 ×z B1 +λ B2 ×z B2 +……+λ Bn ×z Bn )/(n+1)。
in consideration of the fact that the greater the distance between a point and a target sensor is when the target sensor collects point cloud data, the lower the accuracy of information of the point collected by the target sensor is, and therefore, in order to improve the accuracy of the algorithm, the greater the distance between a first subspace region and the target sensor collecting the target point cloud is set, the smaller the weight corresponding to a first normal vector corresponding to the first subspace region is.
For example, the weight corresponding to the first normal vector may be determined according to the following formula:
β=kR center -α wherein β is the weight corresponding to the first normal vector, k is a preset proportionality coefficient which can be set according to actual requirements, and R is center For the distance value from the center of the first subspace region corresponding to the first normal vector to the center of the target sensor, α is related to the acquisition accuracy of the target sensor, where α has been specifically described above and is not described herein again.
It should be noted that, the specific process of determining the weight corresponding to the first normal vector is not limited in the present application, and may be specifically set according to actual requirements, as long as it is ensured that the larger the distance between the first subspace area and the target sensor that collects the target point cloud is, the smaller the weight corresponding to the first normal vector corresponding to the first subspace area is.
In another application scenario, the second normal vector corresponding to the first subspace area a may also be determined as (x ', y', z ') according to the following formula, where the calculation formula of x', y ', z' is as follows:
x’=(x A +x B1 +x B2 +……+x Bn )/(n+1)；
y’=(y A +y B1 +y B2 +……+y Bn )/(n+1)；
z’=(z A +z B1 +z B2 +……+z Bn )/(n+1)。
in this embodiment, at least one first subspace region B adjacent to the first subspace region a in the above step is all the first subspace regions in the eight neighborhoods of the first subspace region a.
For example, in fig. 4, for a first subspace region a, its neighboring at least one first subspace region includes: a first subspace region B1, a first subspace region B2, a first subspace region B3, a first subspace region B4, a first subspace region B5, a first subspace region B26, a first subspace region B7 and a first subspace region B8.
It should be noted that, in other embodiments, at least one first subspace region B adjacent to the first subspace region a may be all first subspace regions within a four-adjacent domain or a diagonal neighborhood of the first subspace region a.
S143: and respectively determining a target ground corresponding to each first subspace area according to a second normal vector corresponding to each first subspace area, wherein the target ground corresponding to each first subspace area is perpendicular to the second normal vector corresponding to the first subspace area.
Specifically, for any first subspace area, after the corresponding second normal vector is obtained, a plane perpendicular to the second normal vector is taken as the target ground corresponding to the first subspace area.
In the above embodiment, the estimated ground corresponding to each first subspace area is directly adjusted by adjusting the first normal vector corresponding to each first subspace area, but the present application is not limited thereto, and in other embodiments, the estimated ground corresponding to each first subspace area may be directly adjusted according to the estimated ground corresponding to at least one first subspace area adjacent to each first subspace area, for example, for any first subspace area a, in the ground C corresponding to at least the first adjacent estimated subspace area B and the estimated ground C corresponding to the first subspace area a, the vertical distances between any two estimated grounds C are determined, then the vertical distances corresponding to each estimated ground C are respectively added to obtain the sum value corresponding to each estimated ground C, and then the estimated ground C corresponding to the minimum sum value is used as the target ground corresponding to the first subspace area a.
Referring to fig. 7, in the present embodiment, step S150 includes:
s151: and respectively determining the distance from each point in the sub-point cloud included in each first subspace area to the target ground corresponding to the first subspace area.
S152: and determining that the point is a ground point in the first subspace area in response to the corresponding distance being less than or equal to a first threshold corresponding to the first subspace area in which the point is located.
Specifically, for any first subspace area a, the distance from each point in the included subspace point cloud to the target ground corresponding to the first subspace area a is respectively determined, and if the distance corresponding to the point is less than or equal to the first threshold corresponding to the first subspace area a, the point is determined to be a ground point in the first subspace area a.
In an application scenario, the first subspace regions are different, and the corresponding first thresholds are the same, that is, the first thresholds are always a fixed value.
In another application scenario, considering the characteristic of the target sensor, that is, the greater the distance between a point and the target sensor, the lower the accuracy of the information of the point output by the target sensor, so the greater the distance between the first subspace area and the target sensor for collecting the target point cloud is, the greater the first threshold corresponding to the first subspace area is.
For example, a first threshold corresponding to the first subspace region is determined according to the following formula;
h=k h ×max(1.0,r center α ) Where h is a first threshold corresponding to the first subspace region, k h For a preset segmentation threshold parameter, r can be set according to actual requirements center Alpha is the distance value from the center of the first subspace area to the center of the target sensor, and is related to the acquisition precision of the target sensor.
It should be noted that, the specific process of determining the first threshold corresponding to the first subspace area is not limited in the present application, as long as it is ensured that the greater the distance between the first subspace area and the target sensor that collects the target point cloud, the greater the first threshold corresponding to the first subspace area.
The following describes the segmentation method of the ground point cloud in an embodiment of the present invention in detail with reference to fig. 8:
the target sensor 10 is configured to collect a surrounding environment and output multiple frames of continuous point cloud data, and the segmentation device 20 processes each frame of point cloud data after receiving the multiple frames of continuous point cloud data output by the target sensor 10, where the point cloud data to be processed by the segmentation device 20 at the current time is defined as a target point cloud of a current frame, and a processing process of the segmentation device 20 on the target point cloud includes:
s1: the coordinates of each point in the target point cloud are converted into a world coordinate system from a sensor coordinate system, and a conversion matrix between the sensor coordinate system and the world coordinate system can be specifically adopted for conversion.
S2: setting a space region of interest (ROI), respectively judging whether each point in the target point cloud is in the space region of interest, if so, reserving the point in the target point cloud, otherwise, removing the point, and the specific process comprises the following steps: if the coordinates of a point satisfy the following condition, determining that the point is in the interested space area, otherwise determining that the point is not in the interested space area:
x i ∈[x min ,x max ]，y i ∈[y min ,y max ]，z i ∈[z min ×max(1.0,r α ),z max ×max(1.0,r α )]wherein x is min 、x max 、y min 、y max 、z min And z max Are all preset threshold values which can be set according to actual requirements, and z is the same min Less than zero, z max Greater than zero, while r is the distance value from the point to the center of the target sensor, α is related to the acquisition accuracy of the target sensor, and when the target sensor is a depth camera, α is usually taken to be 1.08.
And S3, taking the execution efficiency of the subsequent algorithm and hardware computing resources into consideration, and performing filtering processing on the target point cloud, wherein the filtering processing mode can be a voxel down-sampling processing mode and the like, and the specific filtering processing process is not limited in the application.
S4: and cutting the space region where the target point cloud is located to obtain m × n first subspace regions, wherein the projections of the m × n first subspace regions on the real ground are all second rectangles, the plurality of second rectangles are arranged in an array manner, and the plurality of second rectangles form the orthographic projection of the space region where the target point cloud is located on the real ground, namely the first rectangles.
S5: judging whether the acquired current point frame is a first frame or not, if so, executing a step S6; otherwise, step S7 is executed.
S6: and respectively carrying out plane fitting on the sub-point clouds included in each first subspace area to obtain the estimated ground corresponding to each first subspace area. Any plane fitting algorithm may be used herein, including but not limited to Random sample consensus (RANSAC), singular Value Decomposition (SVD), cloth surface Simulation ground Filtering (CSF), and the like. After that, step S8 is executed.
S7: the method comprises the following steps of utilizing a pre-estimated ground corresponding to a second subspace region obtained from a previous frame of a current frame as ground prior information of each first subspace region of the current frame, utilizing the prior information to accelerate plane fitting of each first subspace region of the current frame, and finally obtaining the pre-estimated ground corresponding to each first subspace region of the current frame, wherein the specific process comprises the following steps:
s701: and matching each second subspace area of the previous frame with each first subspace area of the current frame, and respectively calculating the overlapping degree of each second subspace area of the previous frame and each first subspace area of the current frame, wherein the overlapping degree can be an Intersection and Union ratio (IOU).
S702: for any first subspace area A of the current frame, a second subspace area C with the largest intersection ratio is searched in each second subspace area of the previous frame, and the estimated ground corresponding to the second subspace area C is used as the prior ground of the first subspace area A, but if the maximum intersection ratio corresponding to the first subspace area A is 0, the estimated ground corresponding to the second subspace area (the center of which is closest to the distance of the first subspace area A) which is the nearest to the first subspace area A in the previous frame is used as the prior ground of the first subspace area A.
S703: for any first subspace area A of the current frame, calculating the distance from each point in the included sub-point cloud to the prior ground of the first subspace area A, and taking the point with the distance meeting the requirement as a candidate point of the first subspace area A.
S704: and respectively carrying out plane fitting on the candidate point clouds corresponding to each first subspace area in the current frame to finally obtain the estimated ground corresponding to each first subspace area. Then step S8 is performed.
S8: in order to make the final ground surface corresponding to each first subspace region closer to the real ground surface characteristic (smooth smoothness), the adjacent characteristic between each first subspace region is considered, and the characteristic of the target sensor 10 is considered, and a distance weight parameter β is distributed to each first subspace region, wherein the calculation formula of β = kr center -α Wherein k is a preset proportionality coefficient which can be set according to actual requirements, r center Alpha is the distance value from the center of the first subspace area to the center of the target sensor, and is related to the acquisition precision of the target sensor.
Then, for any first subspace area a, the first normal vector perpendicular to the estimated ground and the first normal vectors corresponding to the estimated ground corresponding to all the first subspace areas B in the eight neighborhoods of the first subspace area a are weighted and averaged according to the weight corresponding to each first subspace area, so as to obtain the second normal vector corresponding to the first subspace area a. And then determining a target ground corresponding to the first subspace area according to a second normal vector corresponding to the first subspace area A, wherein the target ground is perpendicular to the second normal vector.
S9: respectively segmenting ground point clouds from the sub-point clouds included in each first subspace area according to the target ground corresponding to each first subspace area, wherein the segmentation standard is as follows: and if the distance from the point in the sub-point cloud corresponding to the first subspace area to the target ground corresponding to the first subspace area is less than or equal to a first threshold corresponding to the first subspace area, determining that the point is a ground point in the first subspace area. The calculation formula of the first threshold corresponding to the first subspace area is as follows: h = k h ×max(1.0,r center α ) Where h is a first threshold corresponding to the first subspace region, k h For a preset segmentation threshold parameter, r can be set according to actual requirements center Is a first subspace regionAlpha is related to the acquisition accuracy of the target sensor.
Referring to fig. 9, fig. 9 is a schematic structural diagram of an embodiment of the dividing device of the present application. The segmentation apparatus 200 includes a processor 210, a memory 220, and a communication circuit 230, wherein the processor 210 is coupled to the memory 220 and the communication circuit 230, respectively, the memory 220 stores program data, and the processor 210 implements the steps in the method according to any of the above embodiments by executing the program data in the memory 220, and the detailed steps can refer to the above embodiments and are not described herein again.
The segmenting device 200 may be any device with algorithm processing capability, such as a computer, a mobile phone, a robot, and the like, without limitation.
Referring to fig. 10, fig. 10 is a schematic structural diagram of another embodiment of the segmentation apparatus of the present application. The segmentation apparatus 300 includes an obtaining module 310, a first segmentation module 320, an estimation module 330, an adjustment module 340, and a second segmentation module 350.
The obtaining module 310 is configured to obtain a target point cloud of a current frame.
The first segmentation module 320 is connected to the obtaining module 310, and configured to cut a spatial region where the target point cloud is located, so as to obtain a plurality of first subspace regions.
The estimation module 330 is connected to the first segmentation module 320, and is configured to obtain a plurality of second subspace regions corresponding to a previous history frame and a history ground corresponding to each second subspace region; respectively determining a second subspace area matched with each first subspace area in the plurality of second subspace areas; screening the sub-point clouds included in each first subspace area according to the historical ground corresponding to the second subspace area matched with each first subspace area respectively to obtain candidate point clouds corresponding to each first subspace area; and determining the pre-estimated ground corresponding to each first subspace area according to the candidate point cloud corresponding to each first subspace area.
The adjusting module 340 is connected to the estimating module 330, and configured to adjust the estimated ground corresponding to each first subspace region according to the estimated ground corresponding to at least one first subspace region adjacent to each first subspace region, respectively, to obtain a target ground corresponding to each first subspace region.
The second segmentation module 350 is connected to the adjustment module 340, and is configured to segment a ground point cloud from the sub-point clouds included in each first subspace area according to the target ground corresponding to each first subspace area.
The segmenting device 300 may be any device with algorithm processing capability, such as a computer, a mobile phone, a robot, and the like, without limitation. The segmentation apparatus 300 performs the steps of the segmentation method of the ground point cloud in any of the above embodiments when operating, and the detailed steps can be referred to the above embodiments and are not described herein again.
Referring to fig. 11, fig. 11 is a schematic structural diagram of an embodiment of a computer-readable storage medium of the present application. The computer-readable storage medium 400 stores a computer program 410, the computer program 410 being executable by a processor to implement the steps of any of the methods described above.
The computer-readable storage medium 400 may be a device that can store the computer program 410, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, or may be a server that stores the computer program 410, and the server may send the stored computer program 410 to another device for operation, or may self-operate the stored computer program 410.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.
Claims (17)
1. A segmentation method for ground point cloud, the method comprising:
acquiring a target point cloud of a current frame;
cutting a space region where the target point cloud is located to obtain a plurality of first subspace regions;
acquiring a plurality of second subspace areas corresponding to a previous historical frame and historical grounds corresponding to each second subspace area;
respectively determining the second subspace area matched with each first subspace area in a plurality of second subspace areas;
screening the sub-point clouds included in each first subspace area according to the historical ground corresponding to the second subspace area matched with each first subspace area respectively to obtain candidate point clouds corresponding to each first subspace area;
determining the pre-estimated ground corresponding to each first subspace area according to the candidate point cloud corresponding to each first subspace area;
adjusting the estimated ground corresponding to each first subspace area according to the estimated ground corresponding to at least one first subspace area adjacent to each first subspace area respectively to obtain a target ground corresponding to each first subspace area;
respectively segmenting ground point clouds from the sub-point clouds included in each first subspace area according to the target ground corresponding to each first subspace area;
the step of adjusting the estimated ground corresponding to each first subspace area according to the estimated ground corresponding to at least one first subspace area adjacent to each first subspace area to obtain a target ground corresponding to each first subspace area includes:
determining a first normal vector corresponding to each first subspace area according to the estimated ground corresponding to each first subspace area, wherein the first normal vector corresponding to the first subspace area is perpendicular to the estimated ground corresponding to the first subspace area;
adjusting the first normal vector corresponding to each first subspace area according to the first normal vector corresponding to at least one first subspace area adjacent to each first subspace area to obtain a second normal vector corresponding to each first subspace area;
and determining the target ground corresponding to each first subspace area according to the second normal vector corresponding to each first subspace area, wherein the target ground corresponding to each first subspace area is perpendicular to the second normal vector corresponding to the first subspace area.
2. The method according to claim 1, wherein the step of adjusting the first normal vector corresponding to each first subspace region according to the first normal vector corresponding to at least one first subspace region adjacent to each first subspace region respectively to obtain a second normal vector corresponding to each first subspace region includes:
respectively carrying out weighted average calculation on the first normal vector corresponding to each first subspace area and the first normal vector corresponding to at least one first subspace area adjacent to the first subspace area according to the weight corresponding to the first normal vector, so as to obtain the second normal vector corresponding to the first subspace area;
the greater the distance between the first subspace area corresponding to the first normal vector and a target sensor for collecting the target point cloud, the smaller the weight corresponding to the first normal vector.
3. The method of claim 2, further comprising:
determining the weight corresponding to the first normal vector according to the following formula:
β=kR center -α wherein β is the weight corresponding to the first normal vector, k is a predetermined scale factor,R center and a is a distance value from the center of the first subspace area corresponding to the first normal vector to the center of a target sensor for collecting the target point cloud, wherein alpha is related to the collection precision of the target sensor.
4. The method according to claim 1, wherein a vertical projection of a spatial region in which the target point cloud is located on a real ground is a first rectangle, vertical projections of a plurality of the first subspace regions on the real ground are all second rectangles, the plurality of the second rectangles are arranged in an array, and the plurality of the second rectangles form the first rectangle;
the step of adjusting the first normal vector corresponding to each first subspace region according to the first normal vector corresponding to at least one first subspace region adjacent to each first subspace region respectively to obtain a second normal vector corresponding to each first subspace region includes:
adjusting the first normal vector corresponding to each first subspace region according to the first normal vectors corresponding to all the first subspace regions in the eight neighborhoods of each first subspace region respectively to obtain the second normal vector corresponding to each first subspace region.
5. The method according to claim 1, wherein the step of segmenting a ground point cloud from the sub-point clouds included in each of the first subspace regions according to the target ground corresponding to each of the first subspace regions respectively comprises:
respectively determining the distance from each point in the sub-point cloud included in each first subspace area to the target ground corresponding to the first subspace area;
determining that the point is a ground point in the first subspace region in response to the distance corresponding to the point being less than or equal to a first threshold corresponding to the first subspace region in which the point is located.
6. The method of claim 5, wherein the greater the distance of the first subspace region from a target sensor that acquired the target point cloud, the greater the first threshold corresponding to the first subspace region.
7. The method of claim 6, further comprising:
determining the first threshold corresponding to the first subspace area according to the following formula;
h=k h ×max(1.0,r center α ) Wherein h is the first threshold corresponding to the first subspace region, k h Is a preset segmentation threshold parameter, r center And a is the distance value from the center of the first subspace area to the center of a target sensor for acquiring the target point cloud, wherein a is related to the acquisition precision of the target sensor.
8. The method according to claim 1, further comprising, before said obtaining a plurality of second subspace regions corresponding to a previous history frame and a history ground corresponding to each of the second subspace regions:
judging whether the current frame is an initial frame or not;
responding to the current frame not being an initial frame, executing the step of obtaining a plurality of second subspace areas corresponding to a previous historical frame and a historical ground corresponding to each second subspace area;
otherwise, respectively performing plane fitting on the sub-point clouds included in each first subspace area to obtain the estimated ground corresponding to each first subspace area, and then executing the step of adjusting the estimated ground corresponding to each first subspace area according to the estimated ground corresponding to at least one first subspace area adjacent to each first subspace area to obtain the target ground corresponding to each first subspace area.
9. The method according to claim 1, wherein the step of screening the sub-point clouds included in each of the first subspace regions according to the historical ground corresponding to the second subspace region matched with each of the first subspace regions to obtain the candidate point clouds corresponding to each of the first subspace regions comprises:
and screening out points, the distances between which and the historical ground corresponding to each first subspace area do not exceed a second threshold value, from the sub-point clouds included in each first subspace area respectively to obtain the candidate point clouds corresponding to each first subspace area.
10. The method according to claim 1, wherein the step of determining the second subspace region matching each of the first subspace regions among the plurality of second subspace regions comprises:
respectively determining the overlapping degree of each second subspace area and each first subspace area;
determining the maximum overlapping degree in the overlapping degree corresponding to each first subspace area;
and respectively determining the second subspace area corresponding to the maximum overlapping degree corresponding to each first subspace area as the second subspace area matched with the first subspace area respectively.
11. The method of claim 10, further comprising:
in response to the maximum degree of overlap corresponding to the first subspace region not being zero, determining the second subspace region corresponding to the maximum degree of overlap corresponding to the first subspace region as the second subspace region matched with the first subspace region;
otherwise, determining the second subspace region closest to the first subspace region as the second subspace region matched with the first subspace region.
12. The method according to claim 1, wherein before the cutting the spatial region where the target point cloud is located to obtain a plurality of first subspace regions, the method further comprises:
respectively judging whether each point in the target point cloud is in an interested space area;
removing the point from the target point cloud in response to the point not being in the spatial region of interest.
13. The method of claim 12, further comprising:
determining that the point is in the interested space area in response to that a first component, a second component and a third component in the coordinate corresponding to the point are respectively in a first range, a second range and a third range corresponding to the point;
the third component is consistent with a direction perpendicular to the real ground, the minimum value of the third range is smaller than zero, the maximum value of the third range is larger than zero, and the larger the distance between the point and a target sensor for collecting the target point cloud is, the wider the third range corresponding to the point is.
14. The method of claim 13, further comprising:
determining the minimum z of said third range corresponding to said point according to the following formula 1 ：
z 1 =z min ×max(1.0,r α )；
And determining the maximum value z of the third range corresponding to the point according to the following formula 2 ：
z 2 =z max ×max(1.0,r α )；
Wherein z is min Is a first predetermined threshold value, z max Is a second preset threshold, r is the distance from the point to the center of a target sensor collecting the target point cloudThe value, a, is related to the acquisition accuracy of the target sensor.
15. The method of claim 12, further comprising, after said removing the point from the target point cloud in response to the point not being in the space of interest:
and filtering the points in the target point cloud.
16. A segmentation device, comprising a processor, a memory and a communication circuit, wherein the processor is coupled to the memory and the communication circuit respectively, the memory stores program data, and the processor implements the steps of the method according to any one of claims 1 to 15 by executing the program data in the memory.
17. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which is executable by a processor to implement the steps in the method according to any of claims 1-15.
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